nav_2d_msgs/Pose2DStamped global_pose
nav_2d_msgs/Pose2DStamped local_pose
nav_2d_msgs/Pose2DStamped goal
nav_2d_msgs/Twist2DStamped current_velocity
nav_2d_msgs/Twist2DStamped command_velocity
nav_2d_msgs/Path2D global_plan
